Design And Implementation Of The Underground3D Laser Scanning System

Now the thick seam mining declines day by day, in order to improve the production ofthin coal seam and to improve mining efficiency, by using3D laser scanning technology inthin seam mining environment for spatial3D point acquisition, to get real3D point clouddata of the underground objects and the real and reliable reconstruction of3D sceneunderground thin seam mining environment.This paper introduces the current research situation of3D laser scanning technology athome and abroad, technology of3D laser scanning in China are still at the embryonic stage,so refer the relevant foreign literatures combine thin coal seam mining environment, design3D scanning equipment for underground mining, and according to3D scanningmeasurement principle deduct to the three dimensional calculation method which is used forthis equipment.Base on the principle designing the mechanical device for3D scanning system whichincludes mounting bracket, lens system, scanning head driven positioning system, horizontalturntable and positioning system, the window and mounting bracket. The hardware system iscomposed of TMS320F28335, electric control rotating platform, one dimensional laser radarAR2500, DC motor, DC motor driver board, RESR circular grating and GH20series readinghead. The software system is divided into two parts that are DSP system control softwareand computer interface software, DSP system control software is used to control the twodimensional motor control, one dimensional range sensor distance acquisition and motorposition information acquisition, PC interface software makes user and3D scanning systeminteraction more convenient, thereby to control equipment for realization of the underlyingdata collection, data conversion and3D display.Therefore, this paper designs the3D laser scanning equipment suitable for undergroundmining, which has the advantages of small volume, high speed, real-time point cloud datatransmission and data is saved as a PCD file, the PC software display mining environment,so as to realize the3D visualization of mining.